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/** \author Joseph Mirabel */

#ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
#define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H

/// @cond INTERNAL

namespace hpp {
namespace fcl {

enum { RelativeTransformationIsIdentity = 1 };

namespace details {
template <bool enabled>
struct HPP_FCL_DLLAPI RelativeTransformation {
  RelativeTransformation() : R(Matrix3f::Identity()) {}

  const Matrix3f& _R() const { return R; }
  const Vec3f& _T() const { return T; }

  Matrix3f R;
  Vec3f T;
};

template <>
struct HPP_FCL_DLLAPI RelativeTransformation<false> {
  static const Matrix3f& _R() {
    HPP_FCL_THROW_PRETTY("should never reach this point", std::logic_error);
  }
  static const Vec3f& _T() {
    HPP_FCL_THROW_PRETTY("should never reach this point", std::logic_error);
  }
};
}  // namespace details

}  // namespace fcl

}  // namespace hpp

/// @endcond

#endif
